Multi-camera image capture system

ABSTRACT

A dual-camera image capture system may include a first light source, disposed above a target area, a first mobile unit, configured to rotate around the target area, and a second mobile unit, operatively coupled to the first mobile unit, configured to move vertically along the first mobile unit. The dual-camera image capture system may further include a second light source, operatively coupled to the second mobile unit and a dual-camera unit, operatively coupled to the second mobile unit. The dual-camera image capture system may include a first camera configured to capture structural data and a second camera configured to capture color data. The first mobile unit and the second mobile unit may be configured to move the first camera and the second camera to face the target area in a variety of positions around the target area.

RELATED APPLICATIONS

This application is a divisional of U.S. patent application Ser. No.15/597,827 filed on May 17, 2017, entitled “Dual-Camera Image CaptureSystem,” the entire content of which is incorporated by referenceherein.

TECHNICAL FIELD

The present disclosure is generally related to a dual-camera imagecapture system, and is more specifically related to an image scanningsystem for capturing a series of images with a first camera to capturestructural details and a second camera to capture color details.

BACKGROUND

Structure from motion is a photogrammetric range imaging technique fordigitally replicating three-dimensional (3D) structures fromtwo-dimensional (2D) image sequences. Various structure from motiontechniques utilize a correspondence between images captured fromdifferent vantage points of an object to construct a 3D digital replicafrom the 2D images. To find correspondence between images, features suchas corner points (edges with gradients in multiple directions) aretracked from one image to the next.

BRIEF DESCRIPTION OF THE DRAWINGS

The present disclosure is illustrated by way of examples, and not by wayof limitation, and may be more fully understood with references to thefollowing detailed description when considered in connection with thefigures, in which:

FIG. 1 is a wireframe diagram illustrating an exemplary dual-cameraimage capture system, according to an implementation.

FIG. 2 is a wireframe diagram illustrating an exemplary dual-camera unitof a dual-camera image capture system, according to an implementation.

FIG. 3 is a flow diagram illustrating a method of operating adual-camera image capture system, according to an implementation.

FIG. 4 is a block diagram illustrating an exemplary network architecturein which embodiments of the present disclosure may be implemented.

FIG. 5 is a flow diagram illustrating a dual-camera image capturemethod, according to an implementation.

FIG. 6 is a diagram illustrating an exemplary dual-camera image capturesystem graphical user interface, according to an implementation.

FIG. 7 is a block diagram of an example computer system that may performone or more of the operations described herein.

DETAILED DESCRIPTION

Described herein are systems and methods for dual-camera image capture.Such systems and methods may allow for the capture of a series of imagesof a 3D object using two cameras moved (e.g., in horizontal and verticaldirections) around the stationary object. The captured images may beutilized, e.g., for producing computer-generated imagery to be employedin interactive video games.

In one embodiment, structure from motion techniques may provide forcapturing images of a 3D object by manually capturing images fromvarious vantage points of the 3D object. For example, to digitallyreplicate a pair of sneakers, a user may walk around the sneakers tocapture a series of images from various angles of the sneakers, and usecorrespondences (identifiable features) in the series of images to piecethe images together. This embodiment may suffer from various problemsincluding inconstant lighting, which may create micro faceting in theimages. In one embodiment, micro faceting may be small edges created bythe shadows of inconstant lighting on an object. Micro faceting locationand intensity may vary from one image to the next, creating problems inidentifying correspondences between images in a series.

In another embodiment, structure from motion techniques may provide forcapturing images of a 3D object by placing the object on a turntable andusing a stationary camera to capture a series of images. This embodimentmay be prone to movement errors during the object scanning process,which may result in a lower quality scan, or possibly scan failure iftoo much deformation is present. The problem of movement errors may beespecially prevalent when the 3D object to be scanned is a textile orother highly flexible deformable structure. By rotating the object onthe turntable, the object may be caused to change position or shape.However slight, the movement of the object to be scanned may createdifferences in correspondences between images in a series, which maymake it more difficult to recognize the correspondences. This embodimentmay also suffer from inconstant lighting, which may create microfaceting in the resulting images.

Embodiments described herein describe operations that improve theembodiments described above, and other structure from motion techniquesby capturing a series of images via a dual-camera image capture systemmoving around a target area (whereupon a stationary 3D object may sit)in a controlled lighting environment. Embodiments described herein mayinclude a dual-camera image capture system including a first camera tocapture structural details of an object to be scanned, a second camerato capture color details of the object to be scanned, various lightsources to be used differently with the cameras, and a structure thatallows the cameras and light sources to move around the object to bescanned during a scan sequence.

Advantageously, by keeping the object in place, and moving camerasaround in a systematic manor, the above lighting and movement problemsare solved. Additionally, by capturing structural and color detailsusing two different cameras specifically configured for each purpose,image quality is enhanced. Furthermore, the embodiments and operationsdescribed herein improve computer functionality by producing higherquality images.

It should be noted that while the embodiments described herein may referto specific 3D objects, the operations and systems described herein areapplicable to any 3D object. It is further noted that although theembodiments described herein may, for convenience and clarity, refer toan object for scanning, the object is in no way an integral part of thedual-camera image capture system. Furthermore, scan operations describedherein may be performed automatically (e.g., without human interaction).

FIG. 1 is a wireframe diagram illustrating an exemplary dual-cameraimage capture system, according to an implementation. In one embodiment,the dual-camera image capture system includes a dual-camera imagecapture structure 100. The dual-camera image capture structure 100 mayinclude a bottom area 101, above which may be a target area 102. In oneembodiment, the bottom area 101 may be a platform to support an objectfor scanning. Alternatively, the bottom area 101 may the floor uponwhich the dual-camera capture structure 100 sits. The target area 102may be a 3D volumetric space above the bottom area 101 that is toreceive an object for scanning. The target area 102 may be as large orsmall as permitted by the dimensions of the dual-camera image capturestructure 100.

In one embodiment, the dual-camera image capture structure 100 mayinclude a top area 104. Top area 104 may include a top panel, supportbeams, or other structural items to provide structural support tostructure 100 and allow for the attachment of various units. In oneembodiment, top area 104 includes a light source 105 directed downward,towards the target area 102. Light source 105 may be attached to toparea 104 so that light source 105 remains stationary during a scan. Inanother embodiment, the light source 105 may be attached to any otherstatic portions of 100. This includes structural elements down the sidesvertically or at the floor level, essentially surrounding the object ina non-moving, static light environment. In one embodiment, light source105 is one or more high-intensity strobe (flash) lights. Light source105 may include a diffusing filter (e.g., a flash diffuser) attached tothe front of one or more lights, to diffuse the light produced by thelight source. The diffusing filter may have a corresponding diffusionvalue that indicates the amount of diffusion provided by the filter. Inone embodiment, the higher the diffusion value, the greater thediffusion. In one embodiment, the diffusion filter of light source 105may weakly diffuse the light produced by light source 105. In anotherembodiment, light source 105 may not include a diffusion filter. Lightsource 105 may include a polarization filter to polarize the lightproduced by the light source 105.

The dual-camera image capture structure 100 may include a side (e.g.,perimeter) area. The top area 104 and bottom area 101 of structure 100may be round in shape. In one embodiment, the side area includes theperimeter of structure 100, around the circumference of the volumetricarea defined by the bottom area 101 and the top area 104. The side areamay include various support units 106A-D. The support units 106A-D maybe attached to the bottom area 101 and the top area 104. In oneembodiment, the support units 106A-D may be attached to a floor wherestructure 100 is placed. Support units 106A-D may provide support fortop area 104 (e.g., including a light source 105) and various otherunits.

In one embodiment, dual-camera image capture structure 100 includes afirst mobile unit 107. The first mobile unit 107 may be attached to thestructure 100 in a manner that allows for the unit 107 to move freelyaround the perimeter of structure 100 in a horizontal direction. In oneembodiment, the unit 107 is a vertical structure (e.g. a beam, post,etc.), which is attached to a top rail 109 of the top area 104 and/or abottom rail 110 of the bottom area 101 such that the unit is capable ofmoving, via the rails 109, 110, around the perimeter of the structure100 while facing target area 102. In one embodiment, first mobile unit107 may include a second light source 109.

In one embodiment, the dual-camera image capture structure 100 includesa second mobile unit 108 attached to the first mobile unit 107. Thesecond mobile unit 108 may be attached to rails on first mobile unit 107that allow the second mobile unit 108 to move vertically along the firstmobile unit 107. The second mobile light unit 108 may include a secondlight source 109 and a dual-camera unit 110. By horizontally moving thefirst mobile unit 107 and the second mobile unit, the second lightsource 109 and the dual-camera unit 110 may be moved to variouspositions around the target area 102 while continuously facing thetarget area 102.

In one embodiment, the second light source 109 is one or morehigh-intensity strobe (flash) lights. Second light source 109 mayinclude a second diffusing filter (e.g., a flash diffuser) attached tothe front of one or more lights, to diffuse the light produced by thesecond light source. The second diffusing filter may have acorresponding diffusion value that indicates the amount of diffusionprovided by the filter. In one embodiment, the second diffusion filterof may diffuse the light produced by second light source 109 more thanthe light produced by the light source 105 is diffused (e.g., thediffusion value of the second diffusing filter is greater than thediffusion value of the first diffusing filter). In another embodiment,second light source 109 may not include a diffusion filter. Second lightsource 109 may include a polarization filter to polarize the lightproduced by the second light source 109.

In one embodiment, dual-camera unit 110 includes second light source109. In another embodiment, dual-camera unit 110 and light source 109are district units, capable of moving independently of each other.Dual-camera unit 110 is further described with respect to FIG. 2.

FIG. 2 is a wireframe diagram illustrating an exemplary dual-camera unit200 of a dual-camera image capture system, according to animplementation. In one embodiment, dual-camera unit 200 includes a firstcamera 201 to capture structural details (e.g., structural data) of anobject placed in a target area (e.g., target area 102 of FIG. 1) and asecond camera 202 to capture color details (e.g., color data) of theobject. The first camera and the second camera may be attached to theunit 200 and separated by a defined offset.

In one embodiment, the first camera 201 includes a monochromatic sensor(e.g., a non-color) sensor. Advantageously, a monochromatic sensor maybe capable of sensing and capturing structural details at a higherresolution than a color sensor, due to the fact that filtering which isusually performed by color filter arrays employed by color image sensorsmay compromise the spatial resolution.

In another embodiment, first camera 201 includes a color sensor. In thisembodiment, the color sensor may be configured to record data to asingle color channel (e.g., the blue channel) of the sensor. Firstcamera 201 may include a polarization filter over the lens to filterlight of a defined polarization value from the sensor. In oneembodiment, the polarization filter attached to the lens of first camera201 may have an opposite polarization value as a polarization filterattached to the first light source. In one embodiment, the second camera202 includes a color sensor, configured to capture color data on allchannels of the sensor. Second camera 202 may include a polarizationfilter over the lens to filter light of a defined polarization valuefrom the sensor. In one embodiment, the polarization filter attached tothe lens of second camera 202 may have an opposite polarization value asa polarization filter attached to the second light source.

In one embodiment, dual-camera unit 200 may include a third camera 203to capture depth data of an object. In one embodiment, camera 203 may beany depth sensor device capable of sensing depth data corresponding toan object. As described herein, depth data associated with an object maybe used to create a target volume associated with the object. The targetvolume may be utilized to create an image capture scan map, as describedwith respect to FIGS. 4-6.

In one embodiment, the cameras described herein may include optical zoomlenses. The dual-camera image capture system may include zoom units(e.g., a series of pulleys) to operate the optical zoom lenses.Advantageously, utilizing optical zoom lenses may provide for betterquality images than utilizing digital zoom.

In in one embodiment, the cameras described herein are capable ofsensing and capturing both visible and non-visible light bands.Advantageously, a non-visible light pattern may be generated andreflected on an object to be scanned, and the structural camera maycapture an image of the object, including the non-visible pattern, toassist in the identification of common features between images later on.

FIG. 3 is a flow diagram illustrating a method of operating adual-camera image capture system, according to an implementation. Themethod 300 may be performed by processing logic that comprises hardware(e.g., circuitry, dedicated logic, programmable logic, microcode, etc.),software (e.g., instructions run on a processing device to performhardware simulation), or a combination thereof. Operations of method 300may be performed in any order so as to fit the needs of thefunctionality to be provided.

In one embodiment, at block 302 processing logic may receive, by aprocessing device of a dual-camera image capture system, instructions toperform an image capture scan. In view of receiving the instructions,processing logic may execute the instructions by causing the dual-cameraimage capture system to perform various operations of blocks 304-308. Atblock 304, processing logic may move a dual-camera unit and a firstlight source to various positions that face a target area. In oneembodiment, wherein the dual-camera unit includes a structural cameraand a color camera to take a set of images (one structural image and onecolor image) of an object within the target area from each position. Inanother embodiment, four (or more) images may be captured at eachposition. One color and one structure image may be captured during thefirst light source trigger, and then another set of color and monoimages may be captured during the second, structural illuminationtrigger. Advantageously, when combining the image pairs in a postprocess operation, combining four images may better reveal details onthe surface of the object being scanned. In in one embodiment, the dualimage sets may be utilized to obtain accurate alignment of the imagesduring the 3D reconstruction process (variations in lightingdirectionality may result in poor and/or failed camera alignment in thephotogrammetry software).

At block 306, at each position, processing logic may activate (e.g.,flash) the first light source and capture a first color image of thetarget area via the color camera and at block 308, activate (e.g.,flash) a second light source and capture a second structural image ofthe target area via the structural camera. In one embodiment, the secondlight source is located directly above the target area. Processing logicmay send the resulting image pairs (a structural image and a colorimage) to a server for processing.

FIG. 4 is a block diagram illustrating an exemplary network architecturein which embodiments of the present disclosure may be implemented. Thenetwork architecture 400 may include one or more servers 402communicating with one or more storage devices 420 and one or moredual-camera image capture units 430 over one or more networks 410,according to one embodiment. Network 410 can be a local area network(LAN), a wireless network, a telephone network, a mobile communicationsnetwork, a wide area network (WAN), such as the Internet, or similarcommunication system. In one embodiment, network 410 is a custom 2.4 GHzwireless network optimized for fast real-time (e.g., substantiallyreal-time) communication.

Server 402 may include various data stores, and/or other data processingequipment. The server 402 may be implemented by a single machine or acluster of machines. Server 402 may include, for example, computersystem 700 of FIG. 7. In one embodiment, server 402 includes dual-cameraimage capture unit 404. In another embodiment, dual-camera image capturesystem 430 of network architecture 400 may include dual-camera imagecapture unit 404. Dual-camera image capture unit 404 may perform thevarious operations described herein. Server 402 may be one server or itmay represent multiple servers.

In one embodiment, storage device 420 and/or server 402 includes imagedatabase 422, which may include data provided by server 402 and/ordual-camera image capture unit 430. In another embodiment, data providedby server 402 and/or dual-camera image capture unit 430 is storedelsewhere, outside of image database 422 or storage device 420. In oneembodiment, image database 422 may store images (e.g., pairs ofstructural and color images) captured by dual-camera image capturesystem 430. In one embodiment, server 402 may include dual-camera imagecapture unit 404 and storage device 420. In another embodiment, storagedevice 420 may be external to server 402 and may be connected to server402 over a network or other connection. In other embodiments, server 402may include different and/or additional components which are not shownhere so as not to obscure the present disclosure. Storage device 420 mayinclude one or more mass storage devices which can include, for example,flash memory, magnetic or optical disks, or tape drives, read-onlymemory (ROM); random-access memory (RAM); erasable programmable memory(e.g., EPROM and EEPROM); flash memory; or any other type of storagemedium.

In one embodiment, dual-camera image capture system 430 may include anycomputing device (e.g., personal computer, server, mobile device,tablet, game system, etc.) and associated dual-camera image capturehardware, as described with respect to FIGS. 1-3. Dual-camera imagecapture system 430 may include, for example, computer system 700 of FIG.7 (alternatively, computer system 700 of FIG. 7 represents server 402 ofFIG. 4). Dual-camera image capture unit 430 may include dual-cameraimage capture unit 404, which may be provided, e.g., by one or moresoftware modules and/or one or more hardware modules. Dual-camera imagecapture system 430 may be connected via network 410 to other userdevices and components not included in FIG. 4.

FIG. 5 is a flow diagram illustrating a dual-camera image capturemethod, according to an implementation. The method 500 may be performedby processing logic that comprises hardware (e.g., circuitry, dedicatedlogic, programmable logic, microcode, etc.), software (e.g.,instructions run on a processing device to perform hardware simulation),or a combination thereof. Method 500 can provide operations for adual-camera image capture system. In one embodiment, dual-camera imagecapture unit 404 of FIG. 4 may perform method 500. Operations of method500 may be performed in any order so as to fit the needs of thefunctionality to be provided.

Referring to FIG. 5, at block 502, processing logic receives, by aprocessing device, depth data from a depth sensor (also referred toherein as a depth camera or a structured light sensor) of a dual-cameraimage capture system. In one embodiment, the depth data may beassociated with an object placed within a target area of the dual-cameraimage capture system. The depth data may include 3D positions of theexterior surface of the object in space. Processing logic may generate atarget volume corresponding to the deceived depth data. The targetvolume may have corresponding height, width, and length parameters thatdefine the target volume. In one embodiment, the target volume mayrepresent the minimum volume displaced by the object to be scanned. Inanother embodiment, the depth data may be used to measure the distancefrom the object at each node position for automated focus on the frontsurface of the object. Advantageously, this may allow for autofocuswithout the aid of visible light.

At block 504, processing logic may generate, based the depth data, animage capture scan map. In one embodiment, an optimal image capture scanpath is calculated in order to achieve maximum imaging coverage, whilekeeping the capture acquisition time to a minumum. The image capturescan map may include a first set of nodes, where each node of the firstset of nodes corresponds to various characteristics including: aposition, an orientation, and a zoom level of a respective structurecamera and color camera of the dual-camera image capture system. Forexample, a node of the image capture scan map may be associated with adefined 3D position that a camera should be placed, a defined cameraorientation (the angle at which a camera should be directed), a definedcamera zoom level (how much should a camera lens be zoomed). In oneembodiment, the structural camera and the color camera may each haveseparate characteristics for a node. In another embodiment, thestructural camera and the color camera may share characteristics for anode.

At block 506, processing logic may provide the image capture scan mapfor display on a graphical user interface (GUI) (e.g., the GUI of FIG.6). Processing logic at block 508 may receive, from the GUI, aninstruction to begin a scan corresponding to the image capture scan map,and in response to receiving the instruction, send instructionscorresponding to the image capture scan map to the dual-camera imagecapture system to be executed. In one embodiment, the image capture scanmap includes a defined path that the cameras are to travel.

In one embodiment, when upon receiving the instructions corresponding tothe image capture scan may, the dual-camera image capture system mayautomatically (e.g., without human interaction) execute the instructionscausing various units of the system to move the cameras into position,modify zoom values of the cameras, modify angles of the cameras,activate (e.g., flash) light sources, etc. In one embodiment, theinstructions cause the dual-camera image capture system to move fromnode to node (e.g., position to position), adjust characteristicsspecific to the current node, and capture a set of images (a firststructural image from the structural camera and a second color imagefrom the color camera). In one embodiment, the captured images may besent to a server or client device for further processing when the scanis complete (e.g., the path associated with the image capture map iscomplete). In another embodiment, the captured images may be sent to theserver or client device for further processing shortly after the imageis captured (e.g., without waiting for the path associated with theimage capture map to complete).

In one embodiment, processing logic may perform multiple scans (e.g.,complete the same path multiple times) at varying zoom levels (focallengths). For example, a first scan, capturing a first set of imagepairs at each node, may be performed at 18 mm and a second scan,capturing a second set of image pairs at each node, may be performed at35 mm. Advantageously, capturing the same image pairs at different zoomlevels allows for smaller details to be captures at higher zoom levels,and larger details to be captured at larger zoom levels.

FIG. 6 is a diagram illustrating an exemplary dual-camera image capturesystem graphical user interface (GUI) 600, according to animplementation. In one embodiment, GUI 600 includes a first area 601 todisplay a visual representation of an image capture map. Area 601 mayinclude a representation of the object to be scanned 602 (e.g., a backpack in GUI 600). Area 601 may further include a target volumerepresentation 603 (e.g., the shaded area of 601).

In one embodiment, the target volume 603 may be generated after a useractivates a “pre-scan” GUI element (e.g., button 604). GUI element 605may allow for multiple pre-scan positions. In one embodiment, at eachposition in space, the dual-camera image capture system may optionallypan and tilt (and zoom) each camera and capture additional images, whichmay cover a greater array of angles, perspectives, or detail levels ofthe object from the location. Advantageously, this may provide greateraccuracy to the camera alignment post process step and in turn, thedetail achieved in the resulting output mesh. The target volume may bemodified via GUI elements 612. In one embodiment, the nodes (e.g., node606) of the image capture map are positioned a defined distance awayfrom the target volume. Advantageously, this may prevent dual-cameraimage capture system equipment from colliding with the object during ascan.

In one embodiment, a default image capture map, including nodes (e.g.,node 606) and a path 607, may be generated based on depth data from thepre-scan (e.g., target volume 603) and included in GUI 600. In oneembodiment, nodes may be arranged in a row and column grid formation andthe path 607 may indicate the sequence of nodes to be scanned. Thenumber of nodes may be modified using GUI elements 608 and 609, whichmodify the number of columns and rows of nodes, respectively. In oneembodiment a scan is performed one row at a time, moving from column tocolumn. When the current row is complete, the next row may be scanned,column by column. In another embodiment a scan is performed one columnat a time, moving from row to row. When the current column is complete,the next column may be scanned, row by row. When modifications are madein GUI 600, the visual representation area 601 may be adjusted toreflect the modifications.

In one embodiment, the zoom level for a scan may be set via GUI element610 and the height of the path may be set via GUI element 611. In oneembodiment, the path height may define the height of the top row ofnodes. In one embodiment, the zoom level is set on a per-scan-basis. Inanother embodiment, the zoom level is set on per-node-basis. In oneembodiment, GUI 600 includes a “capture all” GUI element 613. Uponactivation of GUI element 613, image capture map, including path 607,nodes, node characteristics, and other characteristics defined via GUI600 may be sent to the dual-camera image capture system for execution ofthe scan.

FIG. 7 illustrates a diagrammatic representation of a computing device700 which may implement the systems and methods described herein.Computing device 700 may be connected to other computing devices in aLAN, an intranet, an extranet, and/or the Internet. The computing devicemay operate in the capacity of a server machine in client-server networkenvironment or in the capacity of a client in a peer-to-peer networkenvironment. The computing device may be provided by a personal computer(PC), a set-top box (STB), a server, a network router, switch or bridge,or any machine capable of executing a set of instructions (sequential orotherwise) that specify actions to be taken by that machine. Further,while only a single computing device is illustrated, the term “computingdevice” shall also be taken to include any collection of computingdevices that individually or jointly execute a set (or multiple sets) ofinstructions to perform the methods discussed herein.

The example computing device 700 may include a processing device (e.g.,a general purpose processor) 702, a main memory 704 (e.g., synchronousdynamic random access memory (DRAM), read-only memory (ROM)), a staticmemory 706 (e.g., flash memory and a data storage device 718), which maycommunicate with each other via a bus 730.

Processing device 702 may be provided by one or more general-purposeprocessing devices such as a microprocessor, central processing unit, orthe like. In an illustrative example, processing device 702 may comprisea complex instruction set computing (CISC) microprocessor, reducedinstruction set computing (RISC) microprocessor, very long instructionword (VLIW) microprocessor, or a processor implementing otherinstruction sets or processors implementing a combination of instructionsets. Processing device 702 may also comprise one or morespecial-purpose processing devices such as an application specificintegrated circuit (ASIC), a field programmable gate array (FPGA), adigital signal processor (DSP), network processor, or the like. Theprocessing device 702 may be configured to execute dual-camera imagecapture unit 404 implementing methods 300 and 500 for carrying outdual-camera image capture operations, in accordance with one or moreaspects of the present disclosure, for performing the operations andsteps discussed herein.

Computing device 700 may further include a network interface device 708which may communicate with a network 720. The computing device 700 alsomay include a video display unit 710 (e.g., a liquid crystal display(LCD) or a cathode ray tube (CRT)), an alphanumeric input device 712(e.g., a keyboard), a cursor control device 714 (e.g., a mouse) and anacoustic signal generation device 716 (e.g., a speaker). In oneembodiment, video display unit 710, alphanumeric input device 712, andcursor control device 714 may be combined into a single component ordevice (e.g., an LCD touch screen).

Data storage device 718 may include a computer-readable storage medium728 on which may be stored one or more sets of instructions, e.g.,instructions of dual-camera image capture unit 404 implementing methods300 and 500 for carrying out dual-camera image capture operations, inaccordance with one or more aspects of the present disclosure.Instructions implementing module 726 may also reside, completely or atleast partially, within main memory 704 and/or within processing device702 during execution thereof by computing device 700, main memory 704and processing device 702 also constituting computer-readable media. Theinstructions may further be transmitted or received over a network 720via network interface device 708.

While computer-readable storage medium 728 is shown in an illustrativeexample to be a single medium, the term “computer-readable storagemedium” should be taken to include a single medium or multiple media(e.g., a centralized or distributed database and/or associated cachesand servers) that store the one or more sets of instructions. The term“computer-readable storage medium” shall also be taken to include anymedium that is capable of storing, encoding or carrying a set ofinstructions for execution by the machine and that cause the machine toperform the methods described herein. The term “computer-readablestorage medium” shall accordingly be taken to include, but not belimited to, solid-state memories, optical media and magnetic media.

Unless specifically stated otherwise, terms such as “receiving,”“executing,” “moving,” “activating,” “generating,” “providing,”“sending,” “modifying,” “determining,” or the like, refer to actions andprocesses performed or implemented by computing devices that manipulatesand transforms data represented as physical (electronic) quantitieswithin the computing device's registers and memories into other datasimilarly represented as physical quantities within the computing devicememories or registers or other such information storage, transmission ordisplay devices. Also, the terms “first,” “second,” “third,” “fourth,”etc. as used herein are meant as labels to distinguish among differentelements and may not necessarily have an ordinal meaning according totheir numerical designation.

Examples described herein also relate to an apparatus for performing themethods described herein. This apparatus may be specially constructedfor the required purposes, or it may comprise a general purposecomputing device selectively programmed by a computer program stored inthe computing device. Such a computer program may be stored in acomputer-readable non-transitory storage medium.

The methods and illustrative examples described herein are notinherently related to any particular computer or other apparatus.Various general purpose systems may be used in accordance with theteachings described herein, or it may prove convenient to construct morespecialized apparatus to perform the required method steps. The requiredstructure for a variety of these systems will appear as set forth in thedescription above.

The above description is intended to be illustrative, and notrestrictive. Although the present disclosure has been described withreferences to specific illustrative examples, it will be recognized thatthe present disclosure is not limited to the examples described. Thescope of the disclosure should be determined with reference to thefollowing claims, along with the full scope of equivalents to which theclaims are entitled.

What is claimed is:
 1. A method, comprising: receiving, from a depthcamera of a multi-camera image capture system, depth data of a physicalobject residing with a target area of the multi-camera image capturesystem; generating, by a processing device, an object scan map based onthe depth data, wherein the object scan map specifies, for each node ofa plurality of nodes, a first set of parameters for a structural cameraof the multi-camera image capture system and a second set of parametersfor a color camera of the multi-camera image capture system; and causingthe multi-camera image capture system to scan, using the object scanmap, the physical object.
 2. The method of claim 1, wherein the firstset of parameters comprises a first position, a first orientation, and afirst zoom level of the structural camera, and wherein the second set ofparameters comprises a second position, a second orientation, and asecond zoom level of the color camera.
 3. The method of claim 1, whereinthe depth data comprises a plurality of positions of surface points ofthe physical object in a three-dimensional space.
 4. The method of claim1, wherein generating object scan map further comprises: generating,based on the depth data, a target volume of the physical object, whereinthe target volume represents a minimal volume displaced by the physicalobject.
 5. The method of claim 1, wherein generating object scan mapfurther comprises: determining distances to the object at positions ofeach node of the plurality of nodes.
 6. The method of claim 1, whereingenerating object scan map further comprises: causing the object scanmap to be displayed via a graphical user interface (GUI).
 7. The methodof claim 1, wherein generating object scan map further comprises:receiving, via a GUI, an instruction to modify a node of the pluralityof nodes; generating, based on the instruction, a modified object scanmap.
 8. The method of claim 1, wherein generating object scan mapfurther comprises: receiving, via a GUI, an instruction to increase aquality of the object scan map; generating, based on the instruction, amodified object scan map.
 9. The method of claim 1, further comprising:receiving, via a GUI, an instruction to decrease a quality of the objectscan map; generating, based on the instruction, a modified object scanmap.
 10. The method of claim 1, wherein the structural camera comprisesa monochromatic sensor and the color camera comprises a color sensor.11. A non-transitory computer-readable storage medium comprisingexecutable instructions that, when executed by a processing device,cause the processing device to: receive, from a depth camera of amulti-camera image capture system, depth data of a physical objectresiding with a target area of the multi-camera image capture system;generate, by a processing device, an object scan map based on the depthdata, wherein the object scan map specifies, for each node of aplurality of nodes, a first set of parameters for a structural camera ofthe multi-camera image capture system and a second set of parameters fora color camera of the multi-camera image capture system; and cause themulti-camera image capture system to scan, using the object scan map,the physical object.
 12. The non-transitory computer-readable storagemedium of claim 11, wherein the first set of parameters comprises afirst position, a first orientation, and a first zoom level of thestructural camera, and wherein the second set of parameters comprises asecond position, a second orientation, and a second zoom level of thecolor camera.
 13. The non-transitory computer-readable storage medium ofclaim 11, wherein the depth data comprises a plurality of positions ofsurface points of the physical object in a three-dimensional space. 14.The non-transitory computer-readable storage medium of claim 11, whereingenerating object scan map further comprises: generating, based on thedepth data, a target volume of the physical object, wherein the targetvolume represents a minimal volume displaced by the physical object. 15.The non-transitory computer-readable storage medium of claim 11, whereingenerating object scan map further comprises: determining distances tothe object at positions of each node of the plurality of nodes.
 16. Thenon-transitory computer-readable storage medium of claim 11, whereingenerating object scan map further comprises: causing the object scanmap to be displayed via a graphical user interface (GUI).
 17. Thenon-transitory computer-readable storage medium of claim 11, whereingenerating object scan map further comprises: receiving, via a GUI, aninstruction to modify a node of the plurality of nodes; generating,based on the instruction, a modified object scan map.
 18. Thenon-transitory computer-readable storage medium of claim 11, whereingenerating object scan map further comprises: receiving, via a GUI, aninstruction to increase a quality of the object scan map; generating,based on the instruction, a modified object scan map.
 19. Thenon-transitory computer-readable storage medium of claim 11, furthercomprising: receiving, via a GUI, an instruction to decrease a qualityof the object scan map; generating, based on the instruction, a modifiedobject scan map.
 20. The non-transitory computer-readable storage mediumof claim 11, wherein the structural camera comprises a monochromaticsensor and the color camera comprises a color sensor.